Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games
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arXiv
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910610508218368 |
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| author | Zhang, Zhiyuan Tsiotras, Panagiotis |
| author_facet | Zhang, Zhiyuan Tsiotras, Panagiotis |
| contents | We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equilibrium for problems where agents are coupled through their rewards and state constraints. We compare the proposed method against competing state-of-the-art techniques and showcase the computational benefits of the RD3G algorithm on several example problems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_12152 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games Zhang, Zhiyuan Tsiotras, Panagiotis Robotics We present Residual Descent Differential Dynamic Game (RD3G), a Newton-based solver for constrained multi-agent game-control problems. The proposed solver seeks a local Nash equilibrium for problems where agents are coupled through their rewards and state constraints. We compare the proposed method against competing state-of-the-art techniques and showcase the computational benefits of the RD3G algorithm on several example problems. |
| title | Residual Descent Differential Dynamic Game (RD3G) -- A Fast Newton Solver for Constrained General Sum Games |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.12152 |